/*
 * MOAB, a Mesh-Oriented datABase, is a software component for creating,
 * storing and accessing finite element mesh data.
 *
 * Copyright 2008 Sandia Corporation.  Under the terms of Contract
 * DE-AC04-94AL85000 with Sandia Corporation, the U.S. Government
 * retains certain rights in this software.
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 */

/**\file BSPTree.cpp
 *\author Jason Kraftcheck (kraftche@cae.wisc.edu)
 *\date 2008-05-13
 */

#include "moab/BSPTree.hpp"
#include "moab/GeomUtil.hpp"
#include "moab/Range.hpp"
#include "Internals.hpp"
#include "moab/BSPTreePoly.hpp"
#include "moab/Util.hpp"

#include <cassert>
#include <cstring>
#include <algorithm>
#include <limits>

#if defined( MOAB_HAVE_IEEEFP_H )
#include <ieeefp.h>
#endif

#define MB_BSP_TREE_DEFAULT_TAG_NAME "BSPTree"

namespace moab
{

static void corners_from_box( const double box_min[3], const double box_max[3], double corners[8][3] )
{
    const double* ranges[] = { box_min, box_max };
    for( int z = 0; z < 2; ++z )
    {
        corners[4 * z][0] = box_min[0];
        corners[4 * z][1] = box_min[1];
        corners[4 * z][2] = ranges[z][2];

        corners[4 * z + 1][0] = box_max[0];
        corners[4 * z + 1][1] = box_min[1];
        corners[4 * z + 1][2] = ranges[z][2];

        corners[4 * z + 2][0] = box_max[0];
        corners[4 * z + 2][1] = box_max[1];
        corners[4 * z + 2][2] = ranges[z][2];

        corners[4 * z + 3][0] = box_min[0];
        corners[4 * z + 3][1] = box_max[1];
        corners[4 * z + 3][2] = ranges[z][2];
    }
}

// assume box has planar sides
// test if point is contained in box
static bool point_in_box( const double corners[8][3], const double point[3] )
{
    const unsigned side_verts[6][3] = { { 0, 3, 1 }, { 4, 5, 7 }, { 0, 1, 4 }, { 1, 2, 5 }, { 2, 3, 6 }, { 3, 0, 7 } };
    // If we assume planar sides, then the box is the intersection
    // of 6 half-spaces defined by the planes of the sides.
    const CartVect pt( point );
    for( unsigned s = 0; s < 6; ++s )
    {
        CartVect v0( corners[side_verts[s][0]] );
        CartVect v1( corners[side_verts[s][1]] );
        CartVect v2( corners[side_verts[s][2]] );
        CartVect N = ( v1 - v0 ) * ( v2 - v0 );
        if( ( v0 - pt ) % N < 0 ) return false;
    }
    return true;
}

void BSPTree::Plane::set( const double pt1[3], const double pt2[3], const double pt3[3] )
{
    const double v1[]  = { pt2[0] - pt1[0], pt2[1] - pt1[1], pt2[2] - pt1[2] };
    const double v2[]  = { pt3[0] - pt1[0], pt3[1] - pt1[1], pt3[2] - pt1[2] };
    const double nrm[] = { v1[1] * v2[2] - v1[2] * v2[1], v1[2] * v2[0] - v1[0] * v2[2],
                           v1[0] * v2[1] - v1[1] * v2[0] };
    set( nrm, pt1 );
}

ErrorCode BSPTree::init_tags( const char* tagname )
{
    if( !tagname ) tagname = MB_BSP_TREE_DEFAULT_TAG_NAME;

    std::string rootname( tagname );
    rootname += "_box";

    ErrorCode rval = moab()->tag_get_handle( tagname, 4, MB_TYPE_DOUBLE, planeTag, MB_TAG_CREAT | MB_TAG_DENSE );
    if( MB_SUCCESS != rval )
        planeTag = 0;
    else
        rval = moab()->tag_get_handle( rootname.c_str(), 24, MB_TYPE_DOUBLE, rootTag, MB_TAG_CREAT | MB_TAG_SPARSE );
    if( MB_SUCCESS != rval ) rootTag = 0;
    return rval;
}

BSPTree::BSPTree( Interface* mb, const char* tagname, unsigned set_flags )
    : mbInstance( mb ), meshSetFlags( set_flags ), cleanUpTrees( false )
{
    init_tags( tagname );
}

BSPTree::BSPTree( Interface* mb, bool destroy_created_trees, const char* tagname, unsigned set_flags )
    : mbInstance( mb ), meshSetFlags( set_flags ), cleanUpTrees( destroy_created_trees )
{
    init_tags( tagname );
}

BSPTree::~BSPTree()
{
    if( !cleanUpTrees ) return;

    while( !createdTrees.empty() )
    {
        EntityHandle tree = createdTrees.back();
        // make sure this is a tree (rather than some other, stale handle)
        const void* data_ptr = 0;
        ErrorCode rval       = moab()->tag_get_by_ptr( rootTag, &tree, 1, &data_ptr );
        if( MB_SUCCESS == rval ) rval = delete_tree( tree );
        if( MB_SUCCESS != rval ) createdTrees.pop_back();
    }
}

ErrorCode BSPTree::set_split_plane( EntityHandle node, const Plane& p )
{
    // check for unit-length normal
    const double lensqr = p.norm[0] * p.norm[0] + p.norm[1] * p.norm[1] + p.norm[2] * p.norm[2];
    if( fabs( lensqr - 1.0 ) < std::numeric_limits< double >::epsilon() )
        return moab()->tag_set_data( planeTag, &node, 1, &p );

    const double inv_len = 1.0 / sqrt( lensqr );
    Plane p2( p );
    p2.norm[0] *= inv_len;
    p2.norm[1] *= inv_len;
    p2.norm[2] *= inv_len;
    p2.coeff *= inv_len;

    // check for zero-length normal
    if( !Util::is_finite( p2.norm[0] + p2.norm[1] + p2.norm[2] + p2.coeff ) ) return MB_FAILURE;

    // store plane
    return moab()->tag_set_data( planeTag, &node, 1, &p2 );
}

ErrorCode BSPTree::set_tree_box( EntityHandle root_handle, const double box_min[3], const double box_max[3] )
{
    double corners[8][3];
    corners_from_box( box_min, box_max, corners );
    return set_tree_box( root_handle, corners );
}

ErrorCode BSPTree::set_tree_box( EntityHandle root_handle, const double corners[8][3] )
{
    return moab()->tag_set_data( rootTag, &root_handle, 1, corners );
}

ErrorCode BSPTree::get_tree_box( EntityHandle root_handle, double corners[8][3] )
{
    return moab()->tag_get_data( rootTag, &root_handle, 1, corners );
}

ErrorCode BSPTree::get_tree_box( EntityHandle root_handle, double corners[24] )
{
    return moab()->tag_get_data( rootTag, &root_handle, 1, corners );
}

ErrorCode BSPTree::create_tree( EntityHandle& root_handle )
{
    const double min[3] = { -HUGE_VAL, -HUGE_VAL, -HUGE_VAL };
    const double max[3] = { HUGE_VAL, HUGE_VAL, HUGE_VAL };
    return create_tree( min, max, root_handle );
}

ErrorCode BSPTree::create_tree( const double corners[8][3], EntityHandle& root_handle )
{
    ErrorCode rval = moab()->create_meshset( meshSetFlags, root_handle );
    if( MB_SUCCESS != rval ) return rval;

    rval = set_tree_box( root_handle, corners );
    if( MB_SUCCESS != rval )
    {
        moab()->delete_entities( &root_handle, 1 );
        root_handle = 0;
        return rval;
    }

    createdTrees.push_back( root_handle );
    return MB_SUCCESS;
}

ErrorCode BSPTree::create_tree( const double box_min[3], const double box_max[3], EntityHandle& root_handle )
{
    double corners[8][3];
    corners_from_box( box_min, box_max, corners );
    return create_tree( corners, root_handle );
}

ErrorCode BSPTree::delete_tree( EntityHandle root_handle )
{
    ErrorCode rval;

    std::vector< EntityHandle > children, dead_sets, current_sets;
    current_sets.push_back( root_handle );
    while( !current_sets.empty() )
    {
        EntityHandle set = current_sets.back();
        current_sets.pop_back();
        dead_sets.push_back( set );
        rval = moab()->get_child_meshsets( set, children );
        if( MB_SUCCESS != rval ) return rval;
        std::copy( children.begin(), children.end(), std::back_inserter( current_sets ) );
        children.clear();
    }

    rval = moab()->tag_delete_data( rootTag, &root_handle, 1 );
    if( MB_SUCCESS != rval ) return rval;

    createdTrees.erase( std::remove( createdTrees.begin(), createdTrees.end(), root_handle ), createdTrees.end() );
    return moab()->delete_entities( &dead_sets[0], dead_sets.size() );
}

ErrorCode BSPTree::find_all_trees( Range& results )
{
    return moab()->get_entities_by_type_and_tag( 0, MBENTITYSET, &rootTag, 0, 1, results );
}

ErrorCode BSPTree::get_tree_iterator( EntityHandle root, BSPTreeIter& iter )
{
    ErrorCode rval = iter.initialize( this, root );
    if( MB_SUCCESS != rval ) return rval;
    return iter.step_to_first_leaf( BSPTreeIter::LEFT );
}

ErrorCode BSPTree::get_tree_end_iterator( EntityHandle root, BSPTreeIter& iter )
{
    ErrorCode rval = iter.initialize( this, root );
    if( MB_SUCCESS != rval ) return rval;
    return iter.step_to_first_leaf( BSPTreeIter::RIGHT );
}

ErrorCode BSPTree::split_leaf( BSPTreeIter& leaf, Plane plane, EntityHandle& left, EntityHandle& right )
{
    ErrorCode rval;

    rval = moab()->create_meshset( meshSetFlags, left );
    if( MB_SUCCESS != rval ) return rval;

    rval = moab()->create_meshset( meshSetFlags, right );
    if( MB_SUCCESS != rval )
    {
        moab()->delete_entities( &left, 1 );
        return rval;
    }

    if( MB_SUCCESS != set_split_plane( leaf.handle(), plane ) ||
        MB_SUCCESS != moab()->add_child_meshset( leaf.handle(), left ) ||
        MB_SUCCESS != moab()->add_child_meshset( leaf.handle(), right ) ||
        MB_SUCCESS != leaf.step_to_first_leaf( BSPTreeIter::LEFT ) )
    {
        EntityHandle children[] = { left, right };
        moab()->delete_entities( children, 2 );
        return MB_FAILURE;
    }

    return MB_SUCCESS;
}

ErrorCode BSPTree::split_leaf( BSPTreeIter& leaf, Plane plane )
{
    EntityHandle left, right;
    return split_leaf( leaf, plane, left, right );
}

ErrorCode BSPTree::split_leaf( BSPTreeIter& leaf, Plane plane, const Range& left_entities, const Range& right_entities )
{
    EntityHandle left, right, parent = leaf.handle();
    ErrorCode rval = split_leaf( leaf, plane, left, right );
    if( MB_SUCCESS != rval ) return rval;

    if( MB_SUCCESS == moab()->add_entities( left, left_entities ) &&
        MB_SUCCESS == moab()->add_entities( right, right_entities ) &&
        MB_SUCCESS == moab()->clear_meshset( &parent, 1 ) )
        return MB_SUCCESS;

    moab()->remove_child_meshset( parent, left );
    moab()->remove_child_meshset( parent, right );
    EntityHandle children[] = { left, right };
    moab()->delete_entities( children, 2 );
    return MB_FAILURE;
}

ErrorCode BSPTree::split_leaf( BSPTreeIter& leaf,
                               Plane plane,
                               const std::vector< EntityHandle >& left_entities,
                               const std::vector< EntityHandle >& right_entities )
{
    EntityHandle left, right, parent = leaf.handle();
    ErrorCode rval = split_leaf( leaf, plane, left, right );
    if( MB_SUCCESS != rval ) return rval;

    if( MB_SUCCESS == moab()->add_entities( left, &left_entities[0], left_entities.size() ) &&
        MB_SUCCESS == moab()->add_entities( right, &right_entities[0], right_entities.size() ) &&
        MB_SUCCESS == moab()->clear_meshset( &parent, 1 ) )
        return MB_SUCCESS;

    moab()->remove_child_meshset( parent, left );
    moab()->remove_child_meshset( parent, right );
    EntityHandle children[] = { left, right };
    moab()->delete_entities( children, 2 );
    return MB_FAILURE;
}

ErrorCode BSPTree::merge_leaf( BSPTreeIter& iter )
{
    ErrorCode rval;
    if( iter.depth() == 1 )  // at root
        return MB_FAILURE;

    // Move iter to parent
    iter.up();

    // Get sets to merge
    EntityHandle parent = iter.handle();
    iter.childVect.clear();
    rval = moab()->get_child_meshsets( parent, iter.childVect );
    if( MB_SUCCESS != rval ) return rval;

    // Remove child links
    moab()->remove_child_meshset( parent, iter.childVect[0] );
    moab()->remove_child_meshset( parent, iter.childVect[1] );
    std::vector< EntityHandle > stack( iter.childVect );

    // Get all entities from children and put them in parent
    Range range;
    while( !stack.empty() )
    {
        EntityHandle h = stack.back();
        stack.pop_back();
        range.clear();
        rval = moab()->get_entities_by_handle( h, range );
        if( MB_SUCCESS != rval ) return rval;
        rval = moab()->add_entities( parent, range );
        if( MB_SUCCESS != rval ) return rval;

        iter.childVect.clear();
        rval = moab()->get_child_meshsets( h, iter.childVect );MB_CHK_ERR( rval );
        if( !iter.childVect.empty() )
        {
            moab()->remove_child_meshset( h, iter.childVect[0] );
            moab()->remove_child_meshset( h, iter.childVect[1] );
            stack.push_back( iter.childVect[0] );
            stack.push_back( iter.childVect[1] );
        }

        rval = moab()->delete_entities( &h, 1 );
        if( MB_SUCCESS != rval ) return rval;
    }

    return MB_SUCCESS;
}

ErrorCode BSPTreeIter::initialize( BSPTree* btool, EntityHandle root, const double* /*point*/ )
{
    treeTool = btool;
    mStack.clear();
    mStack.push_back( root );
    return MB_SUCCESS;
}

ErrorCode BSPTreeIter::step_to_first_leaf( Direction direction )
{
    ErrorCode rval;
    for( ;; )
    {
        childVect.clear();
        rval = tool()->moab()->get_child_meshsets( mStack.back(), childVect );
        if( MB_SUCCESS != rval ) return rval;
        if( childVect.empty() )  // leaf
            break;

        mStack.push_back( childVect[direction] );
    }
    return MB_SUCCESS;
}

ErrorCode BSPTreeIter::step( Direction direction )
{
    EntityHandle node, parent;
    ErrorCode rval;
    const Direction opposite = static_cast< Direction >( 1 - direction );

    // If stack is empty, then either this iterator is uninitialized
    // or we reached the end of the iteration (and return
    // MB_ENTITY_NOT_FOUND) already.
    if( mStack.empty() ) return MB_FAILURE;

    // Pop the current node from the stack.
    // The stack should then contain the parent of the current node.
    // If the stack is empty after this pop, then we've reached the end.
    node = mStack.back();
    mStack.pop_back();

    while( !mStack.empty() )
    {
        // Get data for parent entity
        parent = mStack.back();
        childVect.clear();
        rval = tool()->moab()->get_child_meshsets( parent, childVect );
        if( MB_SUCCESS != rval ) return rval;

        // If we're at the left child
        if( childVect[opposite] == node )
        {
            // push right child on stack
            mStack.push_back( childVect[direction] );
            // descend to left-most leaf of the right child
            return step_to_first_leaf( opposite );
        }

        // The current node is the right child of the parent,
        // continue up the tree.
        assert( childVect[direction] == node );
        node = parent;
        mStack.pop_back();
    }

    return MB_ENTITY_NOT_FOUND;
}

ErrorCode BSPTreeIter::up()
{
    if( mStack.size() < 2 ) return MB_ENTITY_NOT_FOUND;
    mStack.pop_back();
    return MB_SUCCESS;
}

ErrorCode BSPTreeIter::down( const BSPTree::Plane& /*plane*/, Direction dir )
{
    childVect.clear();
    ErrorCode rval = tool()->moab()->get_child_meshsets( mStack.back(), childVect );
    if( MB_SUCCESS != rval ) return rval;
    if( childVect.empty() ) return MB_ENTITY_NOT_FOUND;

    mStack.push_back( childVect[dir] );
    return MB_SUCCESS;
}

ErrorCode BSPTreeIter::get_parent_split_plane( BSPTree::Plane& plane ) const
{
    if( mStack.size() < 2 )  // at tree root
        return MB_ENTITY_NOT_FOUND;

    EntityHandle parent = mStack[mStack.size() - 2];
    return tool()->get_split_plane( parent, plane );
}

double BSPTreeIter::volume() const
{
    BSPTreePoly polyhedron;
    ErrorCode rval = calculate_polyhedron( polyhedron );
    return MB_SUCCESS == rval ? polyhedron.volume() : -1.0;
}

bool BSPTreeIter::is_sibling( const BSPTreeIter& other_leaf ) const
{
    const size_t s = mStack.size();
    return ( s > 1 ) && ( s == other_leaf.mStack.size() ) && ( other_leaf.mStack[s - 2] == mStack[s - 2] ) &&
           other_leaf.handle() != handle();
}

bool BSPTreeIter::is_sibling( EntityHandle other_leaf ) const
{
    if( mStack.size() < 2 || other_leaf == handle() ) return false;
    EntityHandle parent = mStack[mStack.size() - 2];
    childVect.clear();
    ErrorCode rval = tool()->moab()->get_child_meshsets( parent, childVect );
    if( MB_SUCCESS != rval || childVect.size() != 2 )
    {
        assert( false );
        return false;
    }
    return childVect[0] == other_leaf || childVect[1] == other_leaf;
}

bool BSPTreeIter::sibling_is_forward() const
{
    if( mStack.size() < 2 )  // if root
        return false;
    EntityHandle parent = mStack[mStack.size() - 2];
    childVect.clear();
    ErrorCode rval = tool()->moab()->get_child_meshsets( parent, childVect );
    if( MB_SUCCESS != rval || childVect.size() != 2 )
    {
        assert( false );
        return false;
    }
    return childVect[0] == handle();
}

ErrorCode BSPTreeIter::calculate_polyhedron( BSPTreePoly& poly_out ) const
{
    ErrorCode rval;

    assert( sizeof( CartVect ) == 3 * sizeof( double ) );
    CartVect corners[8];
    rval = treeTool->get_tree_box( mStack.front(), corners[0].array() );
    if( MB_SUCCESS != rval ) return rval;

    rval = poly_out.set( corners );
    if( MB_SUCCESS != rval ) return rval;

    BSPTree::Plane plane;
    std::vector< EntityHandle >::const_iterator i    = mStack.begin();
    std::vector< EntityHandle >::const_iterator here = mStack.end() - 1;
    while( i != here )
    {
        rval = treeTool->get_split_plane( *i, plane );
        if( MB_SUCCESS != rval ) return rval;

        childVect.clear();
        rval = treeTool->moab()->get_child_meshsets( *i, childVect );
        if( MB_SUCCESS != rval ) return rval;
        if( childVect.size() != 2 ) return MB_FAILURE;

        ++i;
        if( childVect[1] == *i ) plane.flip();

        CartVect norm( plane.norm );
        poly_out.cut_polyhedron( norm, plane.coeff );
    }

    return MB_SUCCESS;
}

ErrorCode BSPTreeBoxIter::initialize( BSPTree* tool_ptr, EntityHandle root, const double* point )
{
    ErrorCode rval = BSPTreeIter::initialize( tool_ptr, root );
    if( MB_SUCCESS != rval ) return rval;

    rval = tool()->get_tree_box( root, leafCoords );
    if( MB_SUCCESS != rval ) return rval;

    if( point && !point_in_box( leafCoords, point ) ) return MB_ENTITY_NOT_FOUND;

    stackData.resize( 1 );
    return MB_SUCCESS;
}

BSPTreeBoxIter::SideBits BSPTreeBoxIter::side_above_plane( const double hex_coords[8][3], const BSPTree::Plane& plane )
{
    unsigned result = 0;
    for( unsigned i = 0; i < 8u; ++i )
        result |= plane.above( hex_coords[i] ) << i;
    return (BSPTreeBoxIter::SideBits)result;
}

BSPTreeBoxIter::SideBits BSPTreeBoxIter::side_on_plane( const double hex_coords[8][3], const BSPTree::Plane& plane )
{
    unsigned result = 0;
    for( unsigned i = 0; i < 8u; ++i )
    {
        bool on = plane.distance( hex_coords[i] ) <= BSPTree::epsilon();
        result |= on << i;
    }
    return (BSPTreeBoxIter::SideBits)result;
}

static inline void copy_coords( const double src[3], double dest[3] )
{
    dest[0] = src[0];
    dest[1] = src[1];
    dest[2] = src[2];
}

ErrorCode BSPTreeBoxIter::face_corners( const SideBits face, const double hex_corners[8][3], double face_corners[4][3] )
{
    switch( face )
    {
        case BSPTreeBoxIter::B0154:
            copy_coords( hex_corners[0], face_corners[0] );
            copy_coords( hex_corners[1], face_corners[1] );
            copy_coords( hex_corners[5], face_corners[2] );
            copy_coords( hex_corners[4], face_corners[3] );
            break;
        case BSPTreeBoxIter::B1265:
            copy_coords( hex_corners[1], face_corners[0] );
            copy_coords( hex_corners[2], face_corners[1] );
            copy_coords( hex_corners[6], face_corners[2] );
            copy_coords( hex_corners[5], face_corners[3] );
            break;
        case BSPTreeBoxIter::B2376:
            copy_coords( hex_corners[2], face_corners[0] );
            copy_coords( hex_corners[3], face_corners[1] );
            copy_coords( hex_corners[7], face_corners[2] );
            copy_coords( hex_corners[6], face_corners[3] );
            break;
        case BSPTreeBoxIter::B3047:
            copy_coords( hex_corners[3], face_corners[0] );
            copy_coords( hex_corners[0], face_corners[1] );
            copy_coords( hex_corners[4], face_corners[2] );
            copy_coords( hex_corners[7], face_corners[3] );
            break;
        case BSPTreeBoxIter::B3210:
            copy_coords( hex_corners[3], face_corners[0] );
            copy_coords( hex_corners[2], face_corners[1] );
            copy_coords( hex_corners[1], face_corners[2] );
            copy_coords( hex_corners[0], face_corners[3] );
            break;
        case BSPTreeBoxIter::B4567:
            copy_coords( hex_corners[4], face_corners[0] );
            copy_coords( hex_corners[5], face_corners[1] );
            copy_coords( hex_corners[6], face_corners[2] );
            copy_coords( hex_corners[7], face_corners[3] );
            break;
        default:
            return MB_FAILURE;  // child is not a box
    }

    return MB_SUCCESS;
}

/** \brief Clip an edge using a plane
 *
 * Given an edge from keep_end_coords to cut_end_coords,
 * cut the edge using the passed plane, such that cut_end_coords
 * is updated with a new location on the plane, and old_coords_out
 * contains the original value of cut_end_coords.
 */
static inline void plane_cut_edge( double old_coords_out[3],
                                   const double keep_end_coords[3],
                                   double cut_end_coords[3],
                                   const BSPTree::Plane& plane )
{
    const CartVect start( keep_end_coords ), end( cut_end_coords );
    const CartVect norm( plane.norm );
    CartVect xsect_point;

    const CartVect m = end - start;
    const double t   = -( norm % start + plane.coeff ) / ( norm % m );
    assert( t > 0.0 && t < 1.0 );
    xsect_point = start + t * m;

    end.get( old_coords_out );
    xsect_point.get( cut_end_coords );
}

/** Given the corners of a hexahedron in corners_input and a
 *  plane, cut the hex with the plane, updating corners_input
 *  and storing the original,cut-off side of the hex in cut_face_out.
 *
 *  The portion of the hex below the plane is retained.  cut_face_out
 *  will contain the side of the hex that is entirely above the plane.
 *\return MB_FAILURE if plane/hex intersection is not a quadrilateral.
 */
static ErrorCode plane_cut_box( double cut_face_out[4][3], double corners_inout[8][3], const BSPTree::Plane& plane )
{
    switch( BSPTreeBoxIter::side_above_plane( corners_inout, plane ) )
    {
        case BSPTreeBoxIter::B0154:
            plane_cut_edge( cut_face_out[0], corners_inout[3], corners_inout[0], plane );
            plane_cut_edge( cut_face_out[1], corners_inout[2], corners_inout[1], plane );
            plane_cut_edge( cut_face_out[2], corners_inout[6], corners_inout[5], plane );
            plane_cut_edge( cut_face_out[3], corners_inout[7], corners_inout[4], plane );
            break;
        case BSPTreeBoxIter::B1265:
            plane_cut_edge( cut_face_out[0], corners_inout[0], corners_inout[1], plane );
            plane_cut_edge( cut_face_out[1], corners_inout[3], corners_inout[2], plane );
            plane_cut_edge( cut_face_out[2], corners_inout[7], corners_inout[6], plane );
            plane_cut_edge( cut_face_out[3], corners_inout[4], corners_inout[5], plane );
            break;
        case BSPTreeBoxIter::B2376:
            plane_cut_edge( cut_face_out[0], corners_inout[1], corners_inout[2], plane );
            plane_cut_edge( cut_face_out[1], corners_inout[0], corners_inout[3], plane );
            plane_cut_edge( cut_face_out[2], corners_inout[4], corners_inout[7], plane );
            plane_cut_edge( cut_face_out[3], corners_inout[5], corners_inout[6], plane );
            break;
        case BSPTreeBoxIter::B3047:
            plane_cut_edge( cut_face_out[0], corners_inout[2], corners_inout[3], plane );
            plane_cut_edge( cut_face_out[1], corners_inout[1], corners_inout[0], plane );
            plane_cut_edge( cut_face_out[2], corners_inout[5], corners_inout[4], plane );
            plane_cut_edge( cut_face_out[3], corners_inout[6], corners_inout[7], plane );
            break;
        case BSPTreeBoxIter::B3210:
            plane_cut_edge( cut_face_out[0], corners_inout[7], corners_inout[3], plane );
            plane_cut_edge( cut_face_out[1], corners_inout[6], corners_inout[2], plane );
            plane_cut_edge( cut_face_out[2], corners_inout[5], corners_inout[1], plane );
            plane_cut_edge( cut_face_out[3], corners_inout[4], corners_inout[0], plane );
            break;
        case BSPTreeBoxIter::B4567:
            plane_cut_edge( cut_face_out[0], corners_inout[0], corners_inout[4], plane );
            plane_cut_edge( cut_face_out[1], corners_inout[1], corners_inout[5], plane );
            plane_cut_edge( cut_face_out[2], corners_inout[2], corners_inout[6], plane );
            plane_cut_edge( cut_face_out[3], corners_inout[3], corners_inout[7], plane );
            break;
        default:
            return MB_FAILURE;  // child is not a box
    }

    return MB_SUCCESS;
}

static inline void copy_coords( double dest[3], const double source[3] )
{
    dest[0] = source[0];
    dest[1] = source[1];
    dest[2] = source[2];
}

/** reverse of plane_cut_box */
static inline ErrorCode plane_uncut_box( const double cut_face_in[4][3],
                                         double corners_inout[8][3],
                                         const BSPTree::Plane& plane )
{
    switch( BSPTreeBoxIter::side_on_plane( corners_inout, plane ) )
    {
        case BSPTreeBoxIter::B0154:
            copy_coords( corners_inout[0], cut_face_in[0] );
            copy_coords( corners_inout[1], cut_face_in[1] );
            copy_coords( corners_inout[5], cut_face_in[2] );
            copy_coords( corners_inout[4], cut_face_in[3] );
            break;
        case BSPTreeBoxIter::B1265:
            copy_coords( corners_inout[1], cut_face_in[0] );
            copy_coords( corners_inout[2], cut_face_in[1] );
            copy_coords( corners_inout[6], cut_face_in[2] );
            copy_coords( corners_inout[5], cut_face_in[3] );
            break;
        case BSPTreeBoxIter::B2376:
            copy_coords( corners_inout[2], cut_face_in[0] );
            copy_coords( corners_inout[3], cut_face_in[1] );
            copy_coords( corners_inout[7], cut_face_in[2] );
            copy_coords( corners_inout[6], cut_face_in[3] );
            break;
        case BSPTreeBoxIter::B3047:
            copy_coords( corners_inout[3], cut_face_in[0] );
            copy_coords( corners_inout[0], cut_face_in[1] );
            copy_coords( corners_inout[4], cut_face_in[2] );
            copy_coords( corners_inout[7], cut_face_in[3] );
            break;
        case BSPTreeBoxIter::B3210:
            copy_coords( corners_inout[3], cut_face_in[0] );
            copy_coords( corners_inout[2], cut_face_in[1] );
            copy_coords( corners_inout[1], cut_face_in[2] );
            copy_coords( corners_inout[0], cut_face_in[3] );
            break;
        case BSPTreeBoxIter::B4567:
            copy_coords( corners_inout[4], cut_face_in[0] );
            copy_coords( corners_inout[5], cut_face_in[1] );
            copy_coords( corners_inout[6], cut_face_in[2] );
            copy_coords( corners_inout[7], cut_face_in[3] );
            break;
        default:
            return MB_FAILURE;  // child is not a box
    }

    return MB_SUCCESS;
}

ErrorCode BSPTreeBoxIter::step_to_first_leaf( Direction direction )
{
    ErrorCode rval;
    BSPTree::Plane plane;
    Corners clipped_corners;

    for( ;; )
    {
        childVect.clear();
        rval = tool()->moab()->get_child_meshsets( mStack.back(), childVect );
        if( MB_SUCCESS != rval ) return rval;
        if( childVect.empty() )  // leaf
            break;

        rval = tool()->get_split_plane( mStack.back(), plane );
        if( MB_SUCCESS != rval ) return rval;

        if( direction == RIGHT ) plane.flip();
        rval = plane_cut_box( clipped_corners.coords, leafCoords, plane );
        if( MB_SUCCESS != rval ) return rval;
        mStack.push_back( childVect[direction] );
        stackData.push_back( clipped_corners );
    }
    return MB_SUCCESS;
}

ErrorCode BSPTreeBoxIter::up()
{
    ErrorCode rval;
    if( mStack.size() == 1 ) return MB_ENTITY_NOT_FOUND;

    EntityHandle node    = mStack.back();
    Corners clipped_face = stackData.back();
    mStack.pop_back();
    stackData.pop_back();

    BSPTree::Plane plane;
    rval = tool()->get_split_plane( mStack.back(), plane );
    if( MB_SUCCESS != rval )
    {
        mStack.push_back( node );
        stackData.push_back( clipped_face );
        return rval;
    }

    rval = plane_uncut_box( clipped_face.coords, leafCoords, plane );
    if( MB_SUCCESS != rval )
    {
        mStack.push_back( node );
        stackData.push_back( clipped_face );
        return rval;
    }

    return MB_SUCCESS;
}

ErrorCode BSPTreeBoxIter::down( const BSPTree::Plane& plane_ref, Direction direction )
{
    childVect.clear();
    ErrorCode rval = tool()->moab()->get_child_meshsets( mStack.back(), childVect );
    if( MB_SUCCESS != rval ) return rval;
    if( childVect.empty() ) return MB_ENTITY_NOT_FOUND;

    BSPTree::Plane plane( plane_ref );
    if( direction == RIGHT ) plane.flip();

    Corners clipped_face;
    rval = plane_cut_box( clipped_face.coords, leafCoords, plane );
    if( MB_SUCCESS != rval ) return rval;

    mStack.push_back( childVect[direction] );
    stackData.push_back( clipped_face );
    return MB_SUCCESS;
}

ErrorCode BSPTreeBoxIter::step( Direction direction )
{
    EntityHandle node, parent;
    Corners clipped_face;
    ErrorCode rval;
    BSPTree::Plane plane;
    const Direction opposite = static_cast< Direction >( 1 - direction );

    // If stack is empty, then either this iterator is uninitialized
    // or we reached the end of the iteration (and return
    // MB_ENTITY_NOT_FOUND) already.
    if( mStack.empty() ) return MB_FAILURE;

    // Pop the current node from the stack.
    // The stack should then contain the parent of the current node.
    // If the stack is empty after this pop, then we've reached the end.
    node = mStack.back();
    mStack.pop_back();
    clipped_face = stackData.back();
    stackData.pop_back();

    while( !mStack.empty() )
    {
        // Get data for parent entity
        parent = mStack.back();
        childVect.clear();
        rval = tool()->moab()->get_child_meshsets( parent, childVect );
        if( MB_SUCCESS != rval ) return rval;
        rval = tool()->get_split_plane( parent, plane );
        if( MB_SUCCESS != rval ) return rval;
        if( direction == LEFT ) plane.flip();

        // If we're at the left child
        if( childVect[opposite] == node )
        {
            // change from box of left child to box of parent
            plane_uncut_box( clipped_face.coords, leafCoords, plane );
            // change from box of parent to box of right child
            plane.flip();
            plane_cut_box( clipped_face.coords, leafCoords, plane );
            // push right child on stack
            mStack.push_back( childVect[direction] );
            stackData.push_back( clipped_face );
            // descend to left-most leaf of the right child
            return step_to_first_leaf( opposite );
        }

        // The current node is the right child of the parent,
        // continue up the tree.
        assert( childVect[direction] == node );
        plane.flip();
        plane_uncut_box( clipped_face.coords, leafCoords, plane );
        node         = parent;
        clipped_face = stackData.back();
        mStack.pop_back();
        stackData.pop_back();
    }

    return MB_ENTITY_NOT_FOUND;
}

ErrorCode BSPTreeBoxIter::get_box_corners( double coords[8][3] ) const
{
    memcpy( coords, leafCoords, 24 * sizeof( double ) );
    return MB_SUCCESS;
}

// result = a - b
static void subtr( double result[3], const double a[3], const double b[3] )
{
    result[0] = a[0] - b[0];
    result[1] = a[1] - b[1];
    result[2] = a[2] - b[2];
}

// result = a + b + c + d
static void sum( double result[3], const double a[3], const double b[3], const double c[3], const double d[3] )
{
    result[0] = a[0] + b[0] + c[0] + d[0];
    result[1] = a[1] + b[1] + c[1] + d[1];
    result[2] = a[2] + b[2] + c[2] + d[2];
}

// result = a cross b
static void cross( double result[3], const double a[3], const double b[3] )
{
    result[0] = a[1] * b[2] - a[2] * b[1];
    result[1] = a[2] * b[0] - a[0] * b[2];
    result[2] = a[0] * b[1] - a[1] * b[0];
}

static double dot( const double a[3], const double b[3] )
{
    return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
}

double BSPTreeBoxIter::volume() const
{
    // have planar sides, so use mid-face tripple product
    double f1[3], f2[3], f3[3], f4[3], f5[3], f6[3];
    sum( f1, leafCoords[0], leafCoords[1], leafCoords[4], leafCoords[5] );
    sum( f2, leafCoords[1], leafCoords[2], leafCoords[5], leafCoords[6] );
    sum( f3, leafCoords[2], leafCoords[3], leafCoords[6], leafCoords[7] );
    sum( f4, leafCoords[0], leafCoords[3], leafCoords[4], leafCoords[7] );
    sum( f5, leafCoords[0], leafCoords[1], leafCoords[2], leafCoords[3] );
    sum( f6, leafCoords[4], leafCoords[5], leafCoords[6], leafCoords[7] );
    double v13[3], v24[3], v65[3];
    subtr( v13, f1, f3 );
    subtr( v24, f2, f4 );
    subtr( v65, f6, f5 );
    double cr[3];
    cross( cr, v13, v24 );
    return ( 1. / 64 ) * dot( cr, v65 );
}

BSPTreeBoxIter::XSect BSPTreeBoxIter::splits( const BSPTree::Plane& plane ) const
{
    // test each corner relative to the plane
    unsigned result = 0;
    for( unsigned i = 0; i < 8u; ++i )
    {
        double d = plane.signed_distance( leafCoords[i] );
        // if corner is on plane, than intersection
        // will result in a degenerate hex
        if( fabs( d ) < BSPTree::epsilon() ) return NONHEX;
        // if mark vertices above plane
        if( d > 0.0 ) result |= 1 << i;
    }

    switch( result )
    {
            // if all vertices or no vertices above plane,
            // then plane doesn't intersect
        case 0:
        case 0xFF:
            return MISS;

            // if there are four vertices above the plane
            // and they compose a single face of the hex,
            // then the cut will result in two hexes
        case B0154:
        case B1265:
        case B2376:
        case B3047:
        case B3210:
        case B4567:
            return SPLIT;

            // otherwise intersects, but split would not result
            // in two hexahedrons
        default:
            return NONHEX;
    }
}

bool BSPTreeBoxIter::intersects( const BSPTree::Plane& plane ) const
{
    // test each corner relative to the plane
    unsigned count = 0;
    for( unsigned i = 0; i < 8u; ++i )
        count += plane.above( leafCoords[i] );
    return count > 0 && count < 8u;
}

ErrorCode BSPTreeBoxIter::sibling_side( SideBits& side_out ) const
{
    if( mStack.size() < 2 )  // at tree root
        return MB_ENTITY_NOT_FOUND;

    EntityHandle parent = mStack[mStack.size() - 2];
    BSPTree::Plane plane;
    ErrorCode rval = tool()->get_split_plane( parent, plane );
    if( MB_SUCCESS != rval ) return MB_FAILURE;

    side_out = side_on_plane( leafCoords, plane );
    return MB_SUCCESS;
}

ErrorCode BSPTreeBoxIter::get_neighbors( SideBits side, std::vector< BSPTreeBoxIter >& results, double epsilon ) const
{
    EntityHandle tmp_handle;
    BSPTree::Plane plane;
    ErrorCode rval;
    int n;

    Corners face;
    rval = face_corners( side, leafCoords, face.coords );
    if( MB_SUCCESS != rval ) return rval;

    // Move up tree until we find the split that created the specified side.
    // Push the sibling at that level onto the iterator stack as
    // all neighbors will be rooted at that node.
    BSPTreeBoxIter iter( *this );  // temporary iterator (don't modifiy *this)
    for( ;; )
    {
        tmp_handle = iter.handle();

        rval = iter.up();
        if( MB_SUCCESS != rval )  // reached root - no neighbors on that side
            return ( rval == MB_ENTITY_NOT_FOUND ) ? MB_SUCCESS : rval;

        iter.childVect.clear();
        rval = tool()->moab()->get_child_meshsets( iter.handle(), iter.childVect );
        if( MB_SUCCESS != rval ) return rval;

        rval = tool()->get_split_plane( iter.handle(), plane );
        if( MB_SUCCESS != rval ) return rval;
        SideBits s = side_above_plane( iter.leafCoords, plane );

        if( tmp_handle == iter.childVect[0] && s == side )
        {
            rval = iter.down( plane, RIGHT );
            if( MB_SUCCESS != rval ) return rval;
            break;
        }
        else if( tmp_handle == iter.childVect[1] && opposite_face( s ) == side )
        {
            rval = iter.down( plane, LEFT );
            if( MB_SUCCESS != rval ) return rval;
            break;
        }
    }

    // now move down tree, searching for adjacent boxes
    std::vector< BSPTreeBoxIter > list;
    // loop over all potential paths to neighbors (until list is empty)
    for( ;; )
    {
        // follow a single path to a leaf, append any other potential
        // paths to neighbors to 'list'
        for( ;; )
        {
            rval = tool()->moab()->num_child_meshsets( iter.handle(), &n );
            if( MB_SUCCESS != rval ) return rval;

            // if leaf
            if( !n )
            {
                results.push_back( iter );
                break;
            }

            rval = tool()->get_split_plane( iter.handle(), plane );
            if( MB_SUCCESS != rval ) return rval;

            bool some_above = false, some_below = false;
            for( int i = 0; i < 4; ++i )
            {
                double signed_d = plane.signed_distance( face.coords[i] );
                if( signed_d > -epsilon ) some_above = true;
                if( signed_d < epsilon ) some_below = true;
            }

            if( some_above && some_below )
            {
                list.push_back( iter );
                list.back().down( plane, RIGHT );
                iter.down( plane, LEFT );
            }
            else if( some_above )
            {
                iter.down( plane, RIGHT );
            }
            else if( some_below )
            {
                iter.down( plane, LEFT );
            }
            else
            {
                // tolerance issue -- epsilon to small? 2D box?
                return MB_FAILURE;
            }
        }

        if( list.empty() ) break;

        iter = list.back();
        list.pop_back();
    }

    return MB_SUCCESS;
}

ErrorCode BSPTreeBoxIter::calculate_polyhedron( BSPTreePoly& poly_out ) const
{
    const CartVect* ptr = reinterpret_cast< const CartVect* >( leafCoords );
    return poly_out.set( ptr );
}

ErrorCode BSPTree::leaf_containing_point( EntityHandle tree_root, const double point[3], EntityHandle& leaf_out )
{
    std::vector< EntityHandle > children;
    Plane plane;
    EntityHandle node = tree_root;
    ErrorCode rval    = moab()->get_child_meshsets( node, children );
    if( MB_SUCCESS != rval ) return rval;
    while( !children.empty() )
    {
        rval = get_split_plane( node, plane );
        if( MB_SUCCESS != rval ) return rval;

        node = children[plane.above( point )];
        children.clear();
        rval = moab()->get_child_meshsets( node, children );
        if( MB_SUCCESS != rval ) return rval;
    }
    leaf_out = node;
    return MB_SUCCESS;
}

ErrorCode BSPTree::leaf_containing_point( EntityHandle root, const double point[3], BSPTreeIter& iter )
{
    ErrorCode rval;

    rval = iter.initialize( this, root, point );
    if( MB_SUCCESS != rval ) return rval;

    for( ;; )
    {
        iter.childVect.clear();
        rval = moab()->get_child_meshsets( iter.handle(), iter.childVect );
        if( MB_SUCCESS != rval || iter.childVect.empty() ) return rval;

        Plane plane;
        rval = get_split_plane( iter.handle(), plane );
        if( MB_SUCCESS != rval ) return rval;

        rval = iter.down( plane, ( BSPTreeIter::Direction )( plane.above( point ) ) );
        if( MB_SUCCESS != rval ) return rval;
    }
}

template < typename PlaneIter >
static inline bool ray_intersect_halfspaces( const CartVect& ray_pt,
                                             const CartVect& ray_dir,
                                             const PlaneIter& begin,
                                             const PlaneIter& end,
                                             double& t_enter,
                                             double& t_exit )
{
    const double epsilon = 1e-12;

    // begin with inifinite ray
    t_enter = 0.0;
    t_exit  = std::numeric_limits< double >::infinity();

    // cut ray such that we keep only the portion contained
    // in each halfspace
    for( PlaneIter i = begin; i != end; ++i )
    {
        CartVect norm( i->norm );
        double coeff = i->coeff;
        double den   = norm % ray_dir;
        if( fabs( den ) < epsilon )
        {                                                   // ray is parallel to plane
            if( i->above( ray_pt.array() ) ) return false;  // ray entirely outside half-space
        }
        else
        {
            double t_xsect = ( -coeff - ( norm % ray_pt ) ) / den;
            // keep portion of ray/segment below plane
            if( den > 0 )
            {
                if( t_xsect < t_exit ) t_exit = t_xsect;
            }
            else
            {
                if( t_xsect > t_enter ) t_enter = t_xsect;
            }
        }
    }

    return t_exit >= t_enter;
}

class BoxPlaneIter
{
    int faceNum;
    BSPTree::Plane facePlanes[6];

  public:
    BoxPlaneIter( const double coords[8][3] );
    BoxPlaneIter() : faceNum( 6 ) {}  // initialize to 'end'
    const BSPTree::Plane* operator->() const
    {
        return facePlanes + faceNum;
    }
    bool operator==( const BoxPlaneIter& other ) const
    {
        return faceNum == other.faceNum;
    }
    bool operator!=( const BoxPlaneIter& other ) const
    {
        return faceNum != other.faceNum;
    }
    BoxPlaneIter& operator++()
    {
        ++faceNum;
        return *this;
    }
};

static const int box_face_corners[6][4] = { { 0, 1, 5, 4 }, { 1, 2, 6, 5 }, { 2, 3, 7, 6 },
                                            { 3, 0, 4, 7 }, { 3, 2, 1, 0 }, { 4, 5, 6, 7 } };

BoxPlaneIter::BoxPlaneIter( const double coords[8][3] ) : faceNum( 0 )
{
    // NOTE:  In the case of a BSP tree, all sides of the
    //        leaf will planar.
    assert( sizeof( CartVect ) == sizeof( coords[0] ) );
    const CartVect* corners = reinterpret_cast< const CartVect* >( coords );
    for( int i = 0; i < 6; ++i )
    {
        const int* indices = box_face_corners[i];
        CartVect v1        = corners[indices[1]] - corners[indices[0]];
        CartVect v2        = corners[indices[3]] - corners[indices[0]];
        CartVect n         = v1 * v2;
        facePlanes[i]      = BSPTree::Plane( n.array(), -( n % corners[indices[2]] ) );
    }
}

bool BSPTreeBoxIter::intersect_ray( const double ray_point[3],
                                    const double ray_vect[3],
                                    double& t_enter,
                                    double& t_exit ) const
{
    BoxPlaneIter iter( this->leafCoords ), end;
    return ray_intersect_halfspaces( CartVect( ray_point ), CartVect( ray_vect ), iter, end, t_enter, t_exit );
}

class BSPTreePlaneIter
{
    BSPTree* toolPtr;
    const EntityHandle* const pathToRoot;
    int pathPos;
    BSPTree::Plane tmpPlane;
    std::vector< EntityHandle > tmpChildren;

  public:
    BSPTreePlaneIter( BSPTree* tool, const EntityHandle* path, int path_len )
        : toolPtr( tool ), pathToRoot( path ), pathPos( path_len - 1 )
    {
        operator++();
    }
    BSPTreePlaneIter()  // initialize to 'end'
        : toolPtr( 0 ), pathToRoot( 0 ), pathPos( -1 )
    {
    }

    const BSPTree::Plane* operator->() const
    {
        return &tmpPlane;
    }
    bool operator==( const BSPTreePlaneIter& other ) const
    {
        return pathPos == other.pathPos;
    }
    bool operator!=( const BSPTreePlaneIter& other ) const
    {
        return pathPos != other.pathPos;
    }
    BSPTreePlaneIter& operator++();
};

BSPTreePlaneIter& BSPTreePlaneIter::operator++()
{
    if( --pathPos < 0 ) return *this;

    EntityHandle prev = pathToRoot[pathPos + 1];
    EntityHandle curr = pathToRoot[pathPos];

    ErrorCode rval = toolPtr->get_split_plane( curr, tmpPlane );
    if( MB_SUCCESS != rval )
    {
        assert( false );
        pathPos = 0;
        return *this;
    }

    tmpChildren.clear();
    rval = toolPtr->moab()->get_child_meshsets( curr, tmpChildren );
    if( MB_SUCCESS != rval || tmpChildren.size() != 2 )
    {
        assert( false );
        pathPos = 0;
        return *this;
    }

    if( tmpChildren[1] == prev ) tmpPlane.flip();
    return *this;
}

bool BSPTreeIter::intersect_ray( const double ray_point[3],
                                 const double ray_vect[3],
                                 double& t_enter,
                                 double& t_exit ) const
{
    // intersect with half-spaces defining tree
    BSPTreePlaneIter iter1( tool(), &mStack[0], mStack.size() ), end1;
    if( !ray_intersect_halfspaces( CartVect( ray_point ), CartVect( ray_vect ), iter1, end1, t_enter, t_exit ) )
        return false;

    // itersect with box bounding entire tree
    double corners[8][3];
    ErrorCode rval = tool()->get_tree_box( mStack.front(), corners );
    if( MB_SUCCESS != rval )
    {
        assert( false );
        return false;
    }

    BoxPlaneIter iter2( corners ), end2;
    double t2_enter, t2_exit;
    if( !ray_intersect_halfspaces( CartVect( ray_point ), CartVect( ray_vect ), iter2, end2, t2_enter, t2_exit ) )
        return false;

    // if intersect both box and halfspaces, check that
    // two intersections overlap
    if( t_enter < t2_enter ) t_enter = t2_enter;
    if( t_exit > t2_exit ) t_exit = t2_exit;
    return t_enter <= t_exit;
}

}  // namespace moab
